Multi-camera mobile teleconferencing platform

ABSTRACT

A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The subject matter disclosed generally relates to the field of mobile two-way teleconferencing.

2. Background Information

Robots have been used in a variety of applications ranging from remote control of hazardous material to assisting in the performance of surgery. For example, U.S. Pat. No. 5,762,458 issued to Wang et al. discloses a system that allows a surgeon to perform minimally invasive medical procedures through the use of robotically controlled instruments. One of the robotic arms in the Wang system moves an endoscope that has a camera. The camera allows a surgeon to view a surgical area of a patient.

Tele-robots such as hazardous waste handlers and bomb detectors may contain a camera that allows the operator to view the remote site. Canadian Pat. No. 2289697 issued to Treviranus, et al. discloses a teleconferencing platform that has both a camera and a monitor. The platform includes mechanisms to both pivot and raise the camera and the monitor. The Treviranus patent also discloses embodiments with a mobile platform, and different mechanisms to move the camera and the monitor.

There has been marketed a mobile robot introduced by InTouch Technologies, Inc., the assignee of this application, under the trademarks COMPANION and RP-6. The InTouch robot is controlled by a user at a remote station. The remote station may be a personal computer with a joystick that allows the user to remotely control the movement of the robot. Both the robot and remote station have cameras, monitors, speakers and microphones to allow for two-way video/audio communication. The robot camera provides video images to a screen at the remote station so that the user can view the robot's surroundings and move the robot accordingly.

When moving the robot it is desirable to have a relatively wide view angle so that the user is provided with an optimal view of the robot's surroundings. It is also desirable to provide the robot with a zoom lens function so that the user can obtain a closer view of an image. It would be desirable to provide an interface for a remote controlled robot system that allows a user to easily switch between zoom and non-zoom images. It would also be desirable to provide memory functions so that the user can return to certain camera positions.

BRIEF SUMMARY OF THE INVENTION

A remote controlled robot system that includes a mobile robot and a remote control station. The mobile robot moves in response to robot control commands transmitted by the remote control station. The remote control station includes a monitor that displays a robot view field. The remote control station has a graphical user function that allows the robot view field to display either a zoom image or a non-zoom image provided by the mobile robot.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a robotic system;

FIG. 2 is a schematic of an electrical system of a robot;

FIG. 3 is a further schematic of the electrical system of the robot;

FIG. 4 is a graphical user interface of a remote station;

FIG. 5 is similar to FIG. 4 showing a portion of a non-zoom image highlighted;

FIG. 6 is similar to FIG. 4 showing a zoom image being displayed by a robot view field;

FIG. 7 is similar to FIG. 4 showing a message that indicates a camera position has been stored.

DETAILED DESCRIPTION

Disclosed is a remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera positions that allow a user to move the camera system to preset positions.

Referring to the drawings more particularly by reference numbers, FIG. 1 shows a robotic system 10 that can be used to conduct a remote visit. The robotic system 10 includes a robot 12, a base station 14 and a remote control station 16. The remote control station 16 may be coupled to the base station 14 through a network 18. By way of example, the network 18 may be either a packet switched network such as the Internet, or a circuit switched network such has a Public Switched Telephone Network (PSTN) or other broadband system. The base station 14 may be coupled to the network 18 by a modem 20 or other broadband network interface device. By way of example, the base station 14 may be a wireless router. Alternatively, the robot 12 may have a direct connection to the network thru for example a satellite.

The remote control station 16 may include a computer 22 that has a monitor 24, a camera 26, a microphone 28 and a speaker 30. The computer 22, may also contain an input device 32 such as a joystick and/or a mouse and a keyboard 33. The control station 16 is typically located in a place that is remote from the robot 12. Although only one remote control station 16 is shown, the system 10 may include a plurality of remote stations. In general any number of robots 12 may be controlled by any number of remote stations 16 or other robots 12. For example, one remote station 16 may be coupled to a plurality of robots 12, or one robot 12 may be coupled to a plurality of remote stations 16, or a plurality of robots 12.

Each robot 12 includes a movement platform 34 that is attached to a robot housing 36. Also attached to the robot housing 36 is a pair of cameras 38 and 39, a monitor 40, a microphone(s) 42 and a speaker(s) 44. The microphone 42 and speaker 30 may create a stereophonic sound. The robot 12 may also have an antenna 46 that is wirelessly coupled to an antenna 48 of the base station 14. The system 10 allows a user at the remote control station 16 to move the robot 12 through operation of the input device 32. The robot cameras 38 and 39 are coupled to the remote monitor 24 so that a user at the remote station 16 can view a patient. Likewise, the robot monitor 40 is coupled to the remote camera 26 so that the patient can view the user. The microphones 28 and 42, and speakers 30 and 44, allow for audible communication between the patient and the user.

Camera 38 may provide a wide angle view. Conversely, camera 39 may contain a zoom lens to provide a narrow angle view. Camera 39 can capture a zoom image that is transmitted to the remote control station. Camera 38 can capture a non-zoom image that can be transmitted to the remote control station. Although two cameras are shown and described, it is to be understood that the robot may contain only one camera that has the capability to provide a zoom image and a non-zoom image.

The remote station computer 22 may operate Microsoft OS software and WINDOWS XP or other operating systems such as LINUX. The remote computer 22 may also operate a video driver, a camera driver, an audio driver and a joystick driver. The video images may be transmitted and received with compression software such as MPEG CODEC.

FIGS. 2 and 3 show an embodiment of a robot 12. Each robot 12 may include a high level control system 50 and a low level control system 52. The high level control system 50 may include a processor 54 that is connected to a bus 56. The bus 56 is coupled to the cameras 38 and 39 by an input/output (I/O) ports 58 and 59, respectively. The monitor 40 is coupled to the bus 56 by a serial output port 60 and a VGA driver 62. The monitor 40 may include a touchscreen function that allows the patient to enter input by touching the monitor screen.

The speaker 44 is coupled to the bus 56 by a digital to analog converter 64. The microphone 42 is coupled to the bus 56 by an analog to digital converter 66. The high level controller 50 may also contain random access memory (RAM) device 68, a non-volatile RAM device 70 and a mass storage device 72 that are all coupled to the bus 62. The mass storage device 72 may contain medical files of the patient that can be accessed by the user at the remote control station 16. For example, the mass storage device 72 may contain a picture of the patient. The user, particularly a health care provider, can recall the old picture and make a side by side comparison on the monitor 24 with a present video image of the patient provided by the camera 38. The robot antennae 45 may be coupled to a wireless transceiver 74. By way of example, the transceiver 74 may transmit and receive information in accordance with IEEE 802.11b.

The controller 54 may operate with a LINUX OS operating system. The controller 54 may also operate MS WINDOWS along with video, camera and audio drivers for communication with the remote control station 16. Video information may be transceived using MPEG CODEC compression techniques. The software may allow the user to send e-mail to the patient and vice versa, or allow the patient to access the Internet. In general the high level controller 50 operates to control communication between the robot 12 and the remote control station 16.

The remote control station 16 may include a computer that is similar to the high level controller 50. The computer would have a processor, memory, I/O, software, firmware, etc. for generating, transmitting, receiving and processing information.

The high level controller 50 may be linked to the low level controller 52 by serial ports 76 and 78. The low level controller 52 includes a processor 80 that is coupled to a RAM device 82 and non-volatile RAM device 84 by a bus 86. Each robot 12 contains a plurality of motors 88 and motor encoders 90. The motors 88 can actuate the movement platform and move other parts of the robot such as the monitor and camera. The encoders 90 provide feedback information regarding the output of the motors 88. The motors 88 can be coupled to the bus 86 by a digital to analog converter 92 and a driver amplifier 94. The encoders 90 can be coupled to the bus 86 by a decoder 96. Each robot 12 also has a number of proximity sensors 98 (see also FIG. 1). The position sensors 98 can be coupled to the bus 86 by a signal conditioning circuit 100 and an analog to digital converter 102.

The low level controller 52 runs software routines that mechanically actuate the robot 12. For example, the low level controller 52 provides instructions to actuate the movement platform to move the robot 12. The low level controller 52 may receive movement instructions from the high level controller 50. The movement instructions may be received as movement commands from the remote control station or another robot. Although two controllers are shown, it is to be understood that each robot 12 may have one controller, or more than two controllers, controlling the high and low level functions.

The various electrical devices of each robot 12 may be powered by a battery(ies) 104. The battery 104 may be recharged by a battery recharger station 106 (see also FIG. 1). The low level controller 52 may include a battery control circuit 108 that senses the power level of the battery 104. The low level controller 52 can sense when the power falls below a threshold and then send a message to the high level controller 50.

The system may be the same or similar to a robotic system provided by the assignee InTouch-Health, Inc. of Santa Barbara, Calif. under the name RP-6. The system may also be the same or similar to the system disclosed in application Ser. No. 10/206,457 published on Jan. 29, 2004, now U.S. Pat No. 6,925,357, which is hereby incorporated by reference.

FIG. 4 shows a display user interface (“DUI”) 120 that can be displayed at the remote station 16. The DUI 120 may include a robot view field 122 that displays a video image provided by the camera of the robot. The DUI 120 may also include a station view field 124 that displays a video image provided by the camera of the remote station 16. The DUI 120 may be part of an application program stored and operated by the computer 22 of the remote station 16.

The robot view field 122 may display a non-zoom image provided by the camera system of the robot. As shown by FIGS. 5 and 6, the user can highlight a portion of the non-zoom image to display a zoom image that corresponds to the highlighted area 126. By way of example, the highlighted area 126 can be initiated by left-clicking a mouse. The user can then drag the cursor 128, while holding down the left-click, to create the highlighted area 126. When the user releases the left-click, the remote station transmits commands to move the robot camera to point at the center of the highlighted area 126 and provide the zoom image corresponding to the area. Alternatively, the user can click on the mouse and a zoom area centered about the cursor will be displayed. The user can switch back to the non-zoom image by manipulating graphical icon 128 to move the slide bar to a far left position. This feature allows a user to readily switch between zoom and non-zoom images provided by the robot camera system. Thus a user can utilize the non-zoom image while moving the robot, and the zoom image feature to take a closer look at people or objects in the field of view.

The remote control station can store camera positions so that the user can readily go to a desired camera position. By way of example, a camera location can be stored by depressing a key on the keyboard. The F4 key may be depressed to store a camera position. As shown in FIG. 7 a visual indication 130 may be displayed to indicate to the user that the camera position has been stored. Subsequently pressing the key will cause the remote station to transmit a command(s) to move the robot camera system to the desired position. Other keys such as F5 through F12 can be used to create 9 potential stored camera locations. A new camera position can be stored by pressing and holding down one of the keys F4-F12.

The mouse 32 can be used to move the cameras of the robot. Movement of the mouse 32 may cause a corresponding movement of the cameras. The scale between the mouse and the camera movements may be varied by the user. Movement of the mouse may also cause the system to display zoom and non-zoom images.

In operation, the robot 12 may be placed in a home or a facility where one or more patients are to be monitored and/or assisted. The facility may be a hospital or a residential care facility. By way of example, the robot 12 may be placed in a home where a health care provider may monitor and/or assist the patient. Likewise, a friend or family member may communicate with the patient. The cameras and monitors at both the robot and remote control stations allow for teleconferencing between the patient and the person at the remote station(s).

The robot 12 can be maneuvered through the home or a facility by manipulating the input device 32 at a remote station 16. The robot 10 may be controlled by a number of different users. To accommodate for this the robot may have an arbitration system. The arbitration system may be integrated into the operating system of the robot 12. For example, the arbitration technique may be embedded into the operating system of the high-level controller 50.

By way of example, the users may be divided into classes that include the robot itself, a local user, a caregiver, a doctor, a family member, or a service provider. The robot 12 may override input commands that conflict with robot operation. For example, if the robot runs into a wall, the system may ignore all additional commands to continue in the direction of the wall. A local user is a person who is physically present with the robot. The robot could have an input device that allows local operation. For example, the robot may incorporate a voice recognition system that receives and interprets audible commands.

A caregiver is someone who remotely monitors the patient. A doctor is a medical professional who can remotely control the robot and also access medical files contained in the robot memory. The family and service users remotely access the robot. The service user may service the system such as by upgrading software, or setting operational parameters.

The robot 12 may operate in one of two different modes; an exclusive mode, or a sharing mode. In the exclusive mode only one user has access control of the robot. The exclusive mode may have a priority assigned to each type of user. By way of example, the priority may be in order of local, doctor, caregiver, family and then service user. In the sharing mode two or more users may share access with the robot. For example, a caregiver may have access to the robot, the caregiver may then enter the sharing mode to allow a doctor to also access the robot. Both the caregiver and the doctor can conduct a simultaneous tele-conference with the patient.

The arbitration scheme may have one of four mechanisms; notification, timeouts, queue and call back. The notification mechanism may inform either a present user or a requesting user that another user has, or wants, access to the robot. The timeout mechanism gives certain types of users a prescribed amount of time to finish access to the robot. The queue mechanism is an orderly waiting list for access to the robot. The call back mechanism informs a user that the robot can be accessed. By way of example, a family user may receive an e-mail message that: the robot is free for usage. Tables I and II, show how the mechanisms resolve access request from the various users.

TABLE I Access Medical Command Software/Debug Set User Control Record Override Access Priority Robot No No Yes (1) No No Local No No Yes (2) No No Caregiver Yes Yes Yes (3) No No Doctor No Yes No No No Family No No No No No Service Yes No Yes Yes Yes

TABLE II Requesting User Local Caregiver Doctor Family Service Current Local Not Allowed Warn current user of Warn current user of Warn current user of Warn current user of User pending user pending user pending user pending user Notify requesting Notify requesting user Notify requesting user Notify requesting user that system is in that system is in use that system is in use user that system is in use Set timeout = 5 m Set timeout = 5 m use Set timeout Call back No timeout Call back Caregiver Warn current user Not Allowed Warn current user of Warn current user of Warn current user of of pending user. pending user pending user pending user Notify requesting Notify requesting user Notify requesting user Notify requesting user that system is that system is in use that system is in use user that system is in in use. Set timeout = 5 m Set timeout = 5 m use Release control Queue or callback No timeout Callback Doctor Warn current user Warn current user of Warn current user of Notify requesting user Warn current user of of pending user pending user pending user that system is in use pending user Notify requesting Notify requesting Notify requesting user No timeout Notify requesting user that system is user that system is in that system is in use Queue or callback user that system is in in use use No timeout use Release control Set timeout = 5 m Callback No timeout Callback Family Warn current user Notify requesting Warn current user of Warn current user of Warn current user of of pending user user that system is in pending user pending user pending user Notify requesting use Notify requesting user Notify requesting user Notify requesting user that system is No timeout that system is in use that system is in use user that system is in in use Put in queue or Set timeout = 1 m Set timeout = 5 m use Release Control callback Queue or callback No timeout Callback Service Warn current user Notify requesting Warn current user of Warn current user of Not Allowed of pending user user that system is in request pending user Notify requesting use Notify requesting user Notify requesting user user that system is No timeout that system is in use that system is in use in use Callback No timeout No timeout No timeout Callback Queue or callback

The information transmitted between the station 16 and the robot 12 may be encrypted. Additionally, the user may have to enter a password to enter the system 10. A selected robot is then given an electronic key by the station 16. The robot 12 validates the key and returns another key to the station 16. The keys are used to encrypt information transmitted in the session.

The robot 12 and remote station 16 transmit commands through the broadband network 18. The commands can be generated by the user in a variety of ways. For example, commands to move the robot may be generated by moving the joystick 32 (see FIG. 1). The commands are preferably assembled into packets in accordance with TCP/IP protocol. Table III provides a list of control commands that are generated at the remote station and transmitted to the robot through the network.

TABLE III Control Commands Command Example Description drive drive 10.0 0.0 5.0 The drive command directs the robot to move at the specified velocity (in cm/sec) in the (x, y) plane, and turn its facing at the specified rate (degrees/sec). goodbye goodbye The goodbye command terminates a user session and relinquishes control of the robot gotoHomePosition gotoHomePosition 1 The gotoHomePosition command moves the head to a fixed “home” position (pan and tilt), and restores zoom to default value. The index value can be 0, 1, or 2. The exact pan/tilt values for each index are specified in robot configuration files. head head vel pan 5.0 tilt The head command controls the head motion. 10.0 It can send commands in two modes, identified by keyword: either positional (“pos”) or velocity (“vol”). In velocity mode, the pan and tilt values are desired velocities of the head on the pan and tilt axes, in degree/sec. A single command can include just the pan section, or just the tilt section, or both. keepalive keepalive The keepalive command causes no action, but keeps the communication (socket) link open so that a session can continue. In scripts, it can be used to introduce delay time into the action. odometry odometry 5 The odometry command enables the flow of odometry messages from the robot. The argument is the number of times odometry is to be reported each second. A value of 0 turns odometry off. reboot reboot The reboot command causes the robot computer to reboot immediately. The ongoing session is immediately broken off. restoreHeadPosition restoreHeadPosition The restoreHeadPosition functions like the gotoHomePosition command, but it homes the head to a position previously saved with gotoHomePosition. saveHeadPosition saveHeadPosition The saveHeadPosition command causes the robot to save the current head position (pan and tilt) in a scratch location in temporary storage so that this position can be restored. Subsequent calls to “restoreHeadPosition” will restore this saved position. Each call to saveHeadPosition overwrites any previously saved position. setCameraFocus setCameraFocus 100.0 The setCameraFocus command controls focus for the camera on the robot side. The value sent is passed “raw” to the video application running on the robot, which interprets it according to its own specification. setCameraZoom setCameraZoom 100.0 The setCameraZoom command controls zoom for the camera on the robot side. The value sent is passed “raw” to the video application running on the robot, which interprets it according to its own specification. shutdown Shutdown The shutdown command shuts down the robot and powers down its computer. stop stop The stop command directs the robot to stop moving immediately. It is assumed this will be as sudden a stop as the mechanism can safely accommodate. timing Timing 3245629 500 The timing message is used to estimate message latency. It holds the UCT value (seconds + milliseconds) of the time the message was sent, as recorded on the sending machine. To do a valid test, you must compare results in each direction (i.e., sending from machine A to machine B, then from machine B to machine A) in order to account for differences in the clocks between the two machines. The robot records data internally to estimate average and maximum latency over the course of a session, which it prints to log files. userTask userTask “Jane Doe” The userTask command notifies the robot of “Remote Visit” the current user and task. It typically is sent once at the start of the session, although it can be sent during a session if the user and/or task change. The robot uses this information for record-keeping.

Table IV provides a list of reporting commands that are generated by the robot and transmitted to the remote station through the network.

TABLE IV Reporting Commands Command Example Description abnormalExit abnormalExit This message informs the user that the robot software has crashed or otherwise exited abnormally. Te robot software catches top- level exceptions and generates this message if any such exceptions occur. bodyType bodyType 3 The bodyType message informs the station which type body (using the numbering of the mechanical team) the current robot has. This allows the robot to be drawn correctly in the station user interface, and allows for any other necessary body-specific adjustments. driveEnabled driveEnabled true This message is sent at the start of a session to indicate whether the drive system is operational. emergencyShutdown emergencyShutdown This message informs the station that the robot software has detected a possible “runaway” condition (an failure causing the robot to move out of control) and is shutting the entire system down to prevent hazardous motion. odometry odometry 10 20 340 The odometry command reports the current (x, y) position (cm) and body orientation (degrees) of the robot, in the original coordinate space of the robot at the start of the session. sensorGroup group_data Sensors on the robot are arranged into groups, each group of a single type (bumps, range sensors, charge meter, etc.) The sensorGroup message is sent once per group at the start of each session. It contains the number, type, locations, and any other relevant data for the sensors in that group. The station assumes nothing about the equipment carried on the robot; everything it knows about the sensors comes from the sensorGroup messages. sensorState groupName state data The sensorState command reports the current state values for a specified group of sensor. The syntax and interpretation for the state data is specific to each group. This message is sent once for each group at each sensor evaluation (normally several times per second). systemError systemError This message informs the station user of a driveController failure in one of the robot's subsystems. The error_type argument indicates which subsystem failed, including driveController, sensorController, headHome. systemInfo systemInfo wireless 45 This message allows regular reporting of information that falls outside the sensor system such as wireless signal strength. text text “This is some The text string sends a text string from the text” robot to the station, where the string is displayed to the user. This message is used mainly for debugging. version version 1.6 This message identifies the software version currently running on the robot. It is sent once at the start of the session to allow the station to do any necessary backward compatibility adjustments.

The processor 54 of the robot high level controller 50 may operate a program that determines whether the robot 12 has received a robot control command within a time interval. For example, if the robot 12 does not receive a control command within 2 seconds then the processor 54 provides instructions to the low level controller 50 to stop the robot 12. Although a software embodiment is described, it is to be understood that the control command monitoring feature could be implemented with hardware, or a combination of hardware and software. The hardware may include a timer that is reset each time a control command is received and generates, or terminates, a command or signal, to stop the robot.

The remote station computer 22 may monitor the receipt of video images provided by the robot camera. The computer 22 may generate and transmit a STOP command to the robot if the remote station does not receive or transmit an updated video image within a time interval. The STOP command causes the robot to stop. By way of example, the computer 22 may generate a STOP command if the remote control station does not receive a new video image within 2 seconds. Although a software embodiment is described, it is to be understood that the video image monitoring feature could be implemented with hardware, or a combination of-hardware and software. The hardware may include a timer that is reset each time a new video image is received and generates, or terminates, a command or signal, to generate the robot STOP command.

While certain exemplary embodiments have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention, and that this invention not be limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those ordinarily skilled in the art. 

What is claimed is:
 1. A remote controlled robot system, comprising: a robot with a camera system that can capture a zoom image and a non-zoom image, the field of view of said non-zoom image includes the field of view of said zoom image; and, a remote control station that transmits commands to control said robot, said remote control station includes a monitor that displays only one image including the field of view of said zoom image at a time and a graphical user interface function that switches said monitor to display said zoom image or said non-zoom image, said graphical user interface function includes a highlighted area created with input from a user that is smaller than said non-zoom image, and said camera system of said robot moves to point at a center of said highlighted area to capture said zoom image.
 2. The system of claim 1, wherein said highlighted area is initiated by depressing a mouse.
 3. The system of claim 1, wherein said remote control station includes at least one stored camera position.
 4. The system of claim 3, wherein said remote control station includes a keyboard and said stored camera position is stored by depressing a key on said keyboard.
 5. The system of claim 4, wherein said mobile robot moves said camera system to said stored camera position in response to said key being depressed.
 6. The system of claim 3, wherein said monitor displays an indication that said stored camera position has been stored.
 7. A method for remotely controlling a robot that has a camera, comprising: transmitting a robot control command from a remote control station; receiving the robot control command at a robot that has a camera system; moving the robot in accordance with the robot control command; displaying on a monitor of the remote control station a non-zoom image in a robot view field; creating a highlighted area of said non-zoom image with input from a user that is smaller than the non-zoom image; moving the camera and the monitor to point at a center of the highlighted area; and, capturing a zoom image that corresponds to the highlighted area, wherein the field of view of said non-zoom image includes the field of view of said zoom image, and said monitor displays only one image including the field of view of said zoom image at a time.
 8. The method of claim 7, further comprising storing a camera position. 